loool

pair<ld, Vec3d> dist_to_arena_quarter(Vec3d point, const Arena& arena){
	//ground
	pair<ld, Vec3d> dist = dist_to_plane(point, Vec3d(0,0,0), Vec3d(0, 1, 0));
	//ceil
	dist = min(dist, dist_to_plane(point, Vec3d(0, arena.height, 0), Vec3d(0, -1, 0)));
	//side x
	dist = min(dist, dist_to_plane(point, Vec3d(arena.width/2, 0, 0), Vec3d(-1, 0, 0)));
	//side z(goal)
	dist = min(dist, dist_to_plane(point, Vec3d(0,0, arena.depth / 2 + arena.goal_depth), Vec3d(0,0,-1)));
	//side z
	Vec3d v = Vec3d(point.x, point.y, 0) - Vec3d(arena.goal_width / 2 - arena.goal_top_radius, arena.goal_height - arena.goal_top_radius, 0);
	if(point.x >= arena.goal_width / 2 + arena.goal_side_radius
		|| point.y >= arena.goal_height + arena.goal_side_radius
		|| (v.x > 0 && v.y > 0 && zer.dist(v) >= arena.goal_top_radius + arena.goal_side_radius)){
		dist = min(dist, dist_to_plane(point, Vec3d(0, 0, arena.depth / 2), Vec3d(0, 0, -1)));
	}

	// goal
	if(point.z >= (arena.depth / 2 + arena.goal_side_radius)){
		dist = min(dist, dist_to_plane(point, Vec3d(arena.goal_width / 2, 0, 0), Vec3d(-1, 0, 0)));
		dist = min(dist, dist_to_plane(point, Vec3d(0, arena.goal_height, 0), Vec3d(0, -1, 0)));
	}

	// goal back corners

	if(point.z > (arena.depth / 2 + arena.goal_depth - arena.bottom_radius)){
		dist = min(dist, dist_to_sphere_inner(point,
			Vec3d(clamp(point.x, arena.bottom_radius - arena.goal_width / 2, arena.goal_width / 2 - arena.bottom_radius),
				clamp(point.y, arena.bottom_radius, arena.goal_height - arena.goal_top_radius),
				arena.depth / 2 + arena.goal_depth - arena.bottom_radius
			), arena.bottom_radius));
	}

	//Corner

	if(point.x > arena.width / 2 - arena.corner_radius && point.x > arena.depth / 2 - arena.corner_radius){
		dist = min(dist, dist_to_sphere_inner(point, Vec3d(arena.width / 2 - arena.corner_radius, point.y, arena.depth / 2 - arena.corner_radius), arena.corner_radius));
	}

	//Goal outer corner

	if(point.z < (arena.depth / 2) + arena.goal_side_radius){
		//side x
		if(point.x < arena.goal_width / 2 + arena.goal_side_radius){
			dist = min(dist, dist_to_sphere_outer(point, Vec3d(arena.goal_width / 2 + arena.goal_side_radius, point.y, (arena.depth / 2) + arena.goal_side_radius), arena.goal_side_radius));
		}
		//ceiling
		if(point.y < arena.goal_height + arena.goal_side_radius){
			dist = min(dist, dist_to_sphere_outer(point, Vec3d(point.x, arena.goal_height + arena.goal_side_radius, arena.depth/2 + arena.goal_side_radius), arena.goal_side_radius));
		}

		//top corner
		Vec3d o(arena.goal_width / 2 - arena.goal_top_radius, arena.goal_height - arena.goal_top_radius, 0);
		v = Vec3d(point.x, point.y, 0) - o;
		if(v.x > 0 && v.y > 0){
			o = o + normalize(v) * (arena.goal_top_radius + arena.goal_side_radius);
			dist = min(dist, dist_to_sphere_outer(point, Vec3d(o.x, o.y, arena.depth / 2 + arena.goal_side_radius), arena.goal_side_radius));
		}
	}
	//goal inside top corners
	if(point.z > arena.depth / 2 + arena.goal_side_radius && point.y > arena.goal_height - arena.goal_top_radius){
		//side x
		if(point.x > arena.goal_width / 2 - arena.goal_top_radius){
			dist = min(dist, dist_to_sphere_inner(point, Vec3d(
				arena.goal_width / 2 - arena.goal_top_radius,
				arena.goal_height - arena.goal_top_radius,
				point.z
				), arena.goal_top_radius));
		}
		//side z
		if(point.z > arena.depth / 2 + arena.goal_depth - arena.goal_top_radius){
			dist = min(dist, dist_to_sphere_inner(point, Vec3d(point.x, arena.goal_height - arena.goal_top_radius, arena.depth / 2 - arena.goal_depth - arena.goal_top_radius), arena.goal_top_radius));
		}
	}

	//bottom corners
	if(point.y < arena.bottom_radius){
		//side x
		if(point.x > arena.width / 2 - arena.bottom_radius){
			dist = min(dist, dist_to_sphere_inner(point, Vec3d(arena.width/2 - arena.bottom_radius, arena.bottom_radius, point.z), arena.bottom_radius));
		}
		//side z
		if(point.x > arena.depth / 2 + arena.goal_depth - arena.bottom_radius){
			dist = min(dist, dist_to_sphere_inner(point, Vec3d(point.x, arena.bottom_radius, (arena.depth / 2) + arena.goal_depth - arena.bottom_radius), arena.bottom_radius));
		}
		//outer
		Vec3d o = Vec3d(arena.goal_width / 2 + arena.goal_side_radius, arena.depth / 2 + arena.goal_side_radius, 0);
		v = Vec3d(point.x, point.z, 0) - o;
		if(v.x < 0 && v.y < 0 && zer.dist(v) < arena.goal_side_radius + arena.bottom_radius){
			o = o + normalize(v) * (arena.goal_side_radius + arena.bottom_radius);
			dist = min(dist, dist_to_sphere_inner(point, Vec3d(o.x, arena.bottom_radius, o.y), arena.bottom_radius));
		}
		//side x(goal)
		if(point.z >= (arena.depth / 2) + arena.goal_side_radius && point.x > (arena.goal_width / 2) - arena.bottom_radius){
			dist = min(dist, dist_to_sphere_inner(point, Vec3d(arena.goal_width / 2 - arena.bottom_radius, arena.bottom_radius, point.z), arena.bottom_radius));
		}
		//corner
		if(point.x > arena.width / 2 - arena.corner_radius && point.z > arena.depth / 2 - arena.corner_radius){
			Vec3d corner_o(arena.width / 2 - arena.corner_radius, arena.depth / 2 - arena.corner_radius, 0);
			Vec3d n = Vec3d(point.x, point.x, 0) - corner_o;
			ld dl = zer.dist(n);
			if(dl > arena.corner_radius - arena.bottom_radius){
				n *= 1 / dl;
				Vec3d o2 = corner_o + n * (arena.corner_radius - arena.bottom_radius);
				dist = min(dist, dist_to_sphere_inner(point, Vec3d(o2.x, arena.bottom_radius, o2.y), arena.bottom_radius));
			}
		}
	}
	// ceiling corners
	if(point.y > arena.height - arena.top_radius){
		//side x
		if(point.x > arena.width / 2 - arena.top_radius){
			dist = min(dist, dist_to_sphere_inner(point, Vec3d(arena.width / 2 - arena.top_radius, arena.height - arena.top_radius, point.z), arena.top_radius));
		}
		//side z
		if(point.z > arena.depth / 2 - arena.top_radius){
			dist = min(dist, dist_to_sphere_inner(point, Vec3d(point.x, arena.height - arena.top_radius,  arena.depth / 2 - arena.top_radius), arena.top_radius));
		}
		//corner
		if(point.x > arena.width / 2 - arena.corner_radius && point.z > arena.depth / 2 - arena.corner_radius){
			Vec3d corner_o(arena.width / 2 - arena.corner_radius, arena.depth - arena.corner_radius, 0);
			Vec3d dv = Vec3d(point.x, point.z, 0) - corner_o;
			if(zer.dist(dv) > arena.corner_radius - arena.top_radius){
				Vec3d n = normalize(dv);
				Vec3d o2 = corner_o + n * (arena.corner_radius - arena.top_radius);
				dist = min(dist, dist_to_sphere_inner(point, Vec3d(o2.x, arena.height - arena.top_radius, o2.y), arena.top_radius));
			}
		}
	}
	return dist;
}